#include"config.h"
unsigned char shujubuf[4];//数据缓存

unsigned char step=0;//步骤控制

unsigned char  read_dipan[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读底盘，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_luyou[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读路由器，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_jiguang1[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读底盘，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_jiguang2[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读路由器，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_16jiguang[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读底盘，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_yuyan[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读路由器，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_yuliu[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读底盘，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码
unsigned char  read_jixiebi[8] = {0x01,0x03,0x20,0x00,0x00,0x01,0x8F,0xCA};  //读底盘，01从机地址，03读，20 00寄存器地址，00 01寄存器数量，校验码


extern unsigned char  write_CHASSIS0[8] = {0x01,0x06,0x00,0x01,0x00,0x10,0xD9,0xC6};  //写小车底盘断电，01从机地址，06写，00 01寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_CHASSIS1[8] = {0x01,0x06,0x00,0x01,0x00,0x01,0x19,0xCA};  //写小车底盘上电，01从机地址，06写，00 01寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_ROUTER0[8] = {0x01,0x06,0x00,0x02,0x00,0x01,0x29,0xC6};  //写路由器断电，01从机地址，06写，00 02寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_ROUTER1[8] = {0x01,0x06,0x00,0x02,0x00,0x10,0xE9,0xCA};  //写路由器上电，01从机地址，06写，00 02寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_1SWL0[8] = {0x01,0x06,0x00,0x03,0x00,0x01,0x78,0x06};  //写激光雷达1断电，01从机地址，06写，00 03寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_1SWL1[8] = {0x01,0x06,0x00,0x03,0x00,0x10,0xB8,0x0A};  //写激光雷达1上电，01从机地址，06写，00 03寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_2SWL0[8] = {0x01,0x06,0x00,0x04,0x00,0x01,0xC9,0xC7};  //写激光雷达2断电，01从机地址，06写，00 04寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_2SWL1[8] = {0x01,0x06,0x00,0x04,0x00,0x10,0x09,0xCB};  //写激光雷达2上电，01从机地址，06写，00 04寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_16SWL0[8] = {0x01,0x06,0x00,0x05,0x00,0x01,0x98,0x07};  //写16线激光雷达断电，01从机地址，06写，00 05寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_16SWL1[8] = {0x01,0x06,0x00,0x05,0x00,0x10,0x58,0x0B};  //写16线激光雷达上电，01从机地址，06写，00 05寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_CAMERA0[8] = {0x01,0x06,0x00,0x06,0x00,0x01,0xD3,0xCA};  //写鱼眼相机断电，01从机地址，06写，00 06寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_CAMERA1[8] = {0x01,0x06,0x00,0x06,0x00,0x10,0xA8,0x0B};  //写鱼眼相机上电，01从机地址，06写，00 06寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_REIN0[8] = {0x01,0x06,0x00,0x07,0x00,0x01,0x39,0xC7};  //写预留接口断电，01从机地址，06写，00 07寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_REIN1[8] = {0x01,0x06,0x00,0x07,0x00,0x10,0x12,0xCB};  //写预留接口上电，01从机地址，06写，00 07寄存器地址，00 01寄存器数量，校验码

extern unsigned char  write_Me_ARM0[8] = {0x01,0x06,0x00,0x08,0x00,0x01,0xD3,0xCA};  //写机械臂断电，01从机地址，06写，00 08寄存器地址，00 01寄存器数量，校验码
extern unsigned char  write_Me_ARM1[8] = {0x01,0x06,0x00,0x08,0x00,0x10,0x12,0x0A};  //写机械臂上电，01从机地址，06写，00 08寄存器地址，00 01寄存器数量，校验码
